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Outputdatagrams
2
Completeinputdatagram.Headeriskeptforidentification:
POSM/V:
$GRP102or$GRP103(ASCII)
CodaOctopusMCOM: E8h
Seapathbinary11:
q(ASCII)
Seapathbinary23:
AAh51h
Anextrabyteisaddedattheendoftheinputdatagramifneededforalignment.
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KongsbergEMSeries
Clock
Table36 Clockdatagrams
DataDescription
Format
Validrange
Note
Numberofbytesindatagram
4U
Startidentifier=STX(Always02h)
1U
Typeofdatagram=C(lockdata)(Always043h)
1U
EMmodelnumber(Example:EM3000=3000)
2U
Date=year*10000+month*100+day(atstartof
datarecord)
(Example:Feb26,1995=19950226)
4U
Timesincemidnightinmilliseconds(atstartof
datarecord)
(Example:08:12:51.234=29570234)
4U
0to86399999
Clockcounter(sequentialcounter)
2U
0to65535
Systemserialnumber
2U
100–
Date=year*10000+month*100+day(from
externalclockinput)
(Example:Feb26,1995=19950226)
4U
Timesincemidnightinmilliseconds(fromexternal
clockdatagram)
(Example:08:12:51.234=29570234)
4U
0to86399999
1PPSuse(activeornot)(0=inactive)
1U
1
Endidentifier=ETX(Always03h)
1U
ChecksumofdatabetweenSTXandETX
2U
Notes
1
Showsifthesystemclockissynchronisedtoanexternal1PPSsignalornot.
70
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Outputdatagrams
Depth (pressure) or height datagram
Table37 Depth(pressure)orheightdatagram
DataDescription
Format
Validrange
Note
Numberofbytesindatagram
4U
Startidentifier=STX(Always02h)
1U
Typeofdatagram=h(eightdata)(Always068h)
1U
EMmodelnumber(Example:EM3000=3000)
2U
Date=year*10000+month*100+day(Example:
Feb26,1995=19950226)
4U
Timesincemidnightinmilliseconds
(Example:08:12:51.234=29570234)
4U
0to86399999
Heightcounter(sequentialcounter)
2U
0to65535
Systemserialnumber
2U
100–
Heightincm
4S
-4294967296 to
4294967295
Heigthtype
1U
0to200
1
Endidentifier=ETX(Always03h)
1U
ChecksumofdatabetweenSTXandETX
2U
Notes
1
0:TheheightisderivedfromtheGGKorGGAdatagramandistheheightofthe
waterlevelattheverticaldatum(possiblymotioncorrected).
Heightisderivedfromtheactivepositionsystemonly.
1-99:TheheighttypeisasgivenintheDepth(pressure)orheightinputdatagram.
100:TheinputisdepthtakenfromtheOwnShipsData/S90.
200:Inputfromdepthsensor.
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KongsbergEMSeries
Heading
Table38 Headingdatagrams
DataDescription
Format
Validrange
Note
Numberofbytesindatagram
4U
Startidentifier=STX(Always02h)
1U
Typeofdatagram=H(eadingdata)
(Always048h)
1U
EMmodelnumber(Example:EM3000=3000)
2U
Date=year*10000+month*100+day(atstartof
datarecord)
(Example:Feb26,1995=19950226)
4U
Timesincemidnightinmilliseconds(atstartof
datarecord)
(Example:08:12:51.234=29570234)
4U
0to86399999
Headingcounter(sequentialcounter)
2U
0to65535
Systemserialnumber
2U
100–
Numberofentries=N
2U
1–
Repeatcycle–Nentriesof:
4*N
–Timeinmillisecondssincerecordstart
2U
0to65534
–Headingin0.01°
2U
0to35999
Endofrepeatcycle
Headingindicator(activeornot)(0=inactive)
1U
Endidentifier=ETX(Always03h)
1U
ChecksumofdatabetweenSTXandETX
2U
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Outputdatagrams
Position
Table39 Positiondatagrams
DataDescription
Format
Validrange
Note
Numberofbytesindatagram
4U
Startidentifier=STX(Always02h)
1U
Typeofdatagram=P(ositiondata)
(Always050h)
1U
EMmodelnumber(Example:EM3000=3000)
2U
Date=year*10000+month*100+day(Example:
Feb26,1995=19950226)
4U
Timesincemidnightinmilliseconds
(Example:08:12:51.234=29570234)
4U
0to86399999
Positioncounter(sequentialcounter)
2U
0to65535
System/serialnumber
2U
100–
Latitudeindecimaldegrees*20000000(negative
ifsouthernhemisphere)
(Example:32°34’S=-651333333)
4S
Longitudeindecimaldegrees*10000000(negative
ifwesternhemisphere)
(Example:110.25°E=1102500000)
4S
Measureofpositionfixqualityincm
2U
1
Speedofvesselovergroundincm/s
2U
0–
1
Courseofvesselovergroundin0.01°
2U
0to35999
1
Headingofvesselin0.01°
2U
0to35999
Positionsystemdescriptor
1U
1to254
2
Numberofbytesininputdatagram
1U
–254
Positioninputdatagramasreceived
Variable
3
Sparebyteifrequiredtogetevenlength
(Always0ifused)
0–1U
Endidentifier=ETX(Always03h)
1U
ChecksumofdatabetweenSTXandETX
2U
Notes
1
Thesedatawillbevalidonlyifavailableasinput.
Thecalculationisdoneaccordingtotheselectedpositioninputformat.
SeePositiononpage9.
2
Thepositionsystemdescriptorshowswhichsourcethisdataisfromandits
real-timeusebybitcoding:
• xxxxxx01-positionsystemno1
• xxxxxx10–positionsystemno2
• xxxxxx11–positionsystemno3
• 10xxxxxx–thepositionsystemisactive,systemtimehasbeenused
• 11xxxxxx-thepositionsystemisactive,inputdatagramtimehasbeenused
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KongsbergEMSeries
• xxxx1xxx–thepositionmayhavetobederivedfromtheinputdatagramwhich
istheninSIMRAD90format.
3
Completeinputdatagramexceptheaderandtail(suchasNMEA0183$andCRLF).
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Outputdatagrams
Single beam echosounder depth
Thisdatagramwillcontaintheprofileactuallyusedintherealtimeraybending
calculationstoconvertrangeandangletoxyzdata. Itwillusuallybeissuedtogether
withtheinstallationparameterdatagram.
Table40 Singlebeamechosounderdepthdatagram
DataDescription
Format
Validrange
Note
Numberofbytesindatagram
4U
Startidentifier=STX(Always02h)
1U
Typeofdatagram=E(chosounderdata)(Always
045h)
1U
EMmodelnumber(Example:EM3000=3000)
2U
Date=year*10000+month*100+day(atstartof
datarecord)
(Example:Feb26,1995=19950226)
4U
Timesincemidnightinmilliseconds(atstartof
datarecord)
(Example:08:12:51.234=29570234)
4U
0to86399999
Echosoundercounter(sequentialcounter)
2U
0to65535
Systemserialnumber
2U
100–
Date=year*10000+month*100+day(frominput
datagramifavailable)
(Example:Feb26,1995=19950226)
4U
Timesincemidnightinmilliseconds(frominput
datagramifavailable)
(Example:08:12:51.234=29570234)
4U
0to86399999
Echosounderdepthfromwaterlineincm
4U
0to1200000
Sourceidentifier(S,T,1,2or3)
ASCII
1
Endidentifier=ETX(Always03h)
1U
ChecksumofdatabetweenSTXandETX
2U
Notes
1
Identifiesthesourcedatagramtype,i.e. NMEADBS,NMEADPTorEA500
serieschannel1-3respectively.
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KongsbergEMSeries
Tide datagram
Table41 Tidedatagram
DataDescription
Format
Validrange
Note
Numberofbytesindatagram
4U
Startidentifier=STX(Always02h)
1U
Typeofdatagram=T(idedata)(Always054h)
1U
EMmodelnumber(Example:EM3000=3000)
2U
Date=year*10000+month*100+day(Example:
Feb26,1995=19950226)
4U
Timesincemidnightinmilliseconds
(Example:08:12:51.234=29570234)
4U
0to86399999
Tidecounter(sequentialcounter)
2U
0to65535
Systemserialnumber
2U
100–
Date=year*10000+month*100+day(frominput
datagram)
(Example:Feb26,1995=19950226)
4U
Timesincemidnightinmilliseconds(frominput
datagram)
(Example:08:12:51.234=29570234)
4U
0to86399999
Tidaloffsetincm
2S
-32768to32766
Spare(Always0)
1U
Endidentifier=ETX(Always03h)
1U
ChecksumofdatabetweenSTXandETX
2U
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Outputdatagrams
Sound speed
Topics
• Surfacesoundspeedonpage77
• Soundspeedprofiledatagramonpage78
• KongsbergMaritimeSSPoutputdatagramonpage79
Surface sound speed
Table42 Surfacesoundspeeddatagram
DataDescription
Format
Validrange
Note
Numberofbytesindatagram
4U
Startidentifier=STX(Always02h)
1U
Typeofdatagram=G(Always047h)
1U
EMmodelnumber(Example:EM3000=3000)
2U
Date=year*10000+month*100+day(atstartof
datarecord)
(Example:Feb26,1995=19950226)
4U
Timesincemidnightinmilliseconds(atstartof
datarecord)
(Example:08:12:51.234=29570234)
4U
0to86399999
Soundspeedcounter(sequentialcounter)
2U
0to65535
Systemserialnumber
2U
100–
Numberofentries=N
2U
1–
Repeatcycle–Nentriesof:
4*N
–Timeinsecondssincerecordstart
2U
0to65534
–Soundspeedindm/s(incl. offset)
2U
14000to15999
Endofrepeatcycle
Spare(Always0)
1U
Endidentifier=ETX(Always03h)
1U
ChecksumofdatabetweenSTXandETX
2U
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KongsbergEMSeries
Sound speedprofile datagram
Thisdatagramwillcontaintheprofileactuallyusedintherealtimeraybending
calculationstoconvertrangeandangletoxyzdata. Itwillusuallybeissuedtogether
withtheinstallationparameterdatagram.
Table43 Soundspeedprofiledatagram
DataDescription
Format
Validrange
Note
Numberofbytesindatagram
4U
Startidentifier=STX(Always02h)
1U
Typeofdatagram=U(Always055h)
1U
EMmodelnumber(Example:EM3000=3000)
2U
Date=year*10000+month*100+day(atstartof
datarecord)
(Example:Feb26,1995=19950226)
4U
Timesincemidnightinmilliseconds(atstartof
datarecord)
(Example:08:12:51.234=29570234)
4U
0to86399999
Profilecounter(sequentialcounter)
2U
0to65535
Systemserialnumber
2U
100–
Date=year*10000+month*100+day
(whenprofilewasmade)
(Example:Feb26,1995=19950226)
4U
Timesincemidnightinseconds
(whenprofilewasmade)
(Example: 08:12:51=29571)
4U
0to86399
Numberofentries=N
2U
1–
Depthresolutionincm
2U
1to254
Repeatcycle—Nentriesof:
8*N
–Depth
4U
0to1200000
–Soundspeedindm/s
4U
14000to17000
Endofrepeatcycle
Sparebytetogetevenlength(Always0)
1U
Endidentifier=ETX(Always03h)
1U
ChecksumofdatabetweenSTXandETX
2U
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